cmake_minimum_required(VERSION 3.8)
project(navi_controller)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

find_package(rclcpp REQUIRED)
find_package(navi_core REQUIRED)
find_package(nav2_util REQUIRED)
find_package(pluginlib REQUIRED)

include_directories(
  include
)
set(dependencies
  rclcpp
  navi_core
  nav2_util
  pluginlib
)

add_executable(controller_server
  src/main.cpp
  src/controller_server.cpp
)
ament_target_dependencies(controller_server 
  ${dependencies}
)
# 安装规则
install(TARGETS 
  controller_server
  DESTINATION lib/${PROJECT_NAME}
)
# 安装头文件到指定目录
install(DIRECTORY include/
  DESTINATION include/
)
ament_package()
